CN103357777A - Three-dimensional mechanical arm conveyer for stamping equipment - Google Patents
Three-dimensional mechanical arm conveyer for stamping equipment Download PDFInfo
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- CN103357777A CN103357777A CN2013103386428A CN201310338642A CN103357777A CN 103357777 A CN103357777 A CN 103357777A CN 2013103386428 A CN2013103386428 A CN 2013103386428A CN 201310338642 A CN201310338642 A CN 201310338642A CN 103357777 A CN103357777 A CN 103357777A
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Abstract
The invention relates to the technical field of stamping automation, in particular to a three-dimensional mechanical arm conveyer for stamping equipment. The three-dimensional mechanical arm conveyer for the stamping equipment comprises two fixture arms and a transmission body, and the transmission body comprises a rack which is provided with two supporting arms, a lifting transmission mechanism and a clamp opening transmission mechanism. The lifting transmission mechanism can drive the supporting arms to move up and down, the clamp opening mechanism can drive the supporting arms to move inwards and outwards, the two supporting arms are connected with the two fixture arms in a sliding mode, fixtures which can clamp stamping parts are mounted on the fixture arms, the supporting arms are provided with left-right transversely moving transmission mechanisms which can drive the fixture arms to move from left to right, the two supporting arms are symmetrically arranged on the front side of the rack, and the two fixture arms are symmetrically arranged on the back side of the rack. By means of the three-dimensional mechanical arm conveyer for the stamping equipment, lifting and transmission strength can be uniform, the occupied space of the transversely moving conveying part is reduced, and the three-dimensional mechanical arm conveyer can cooperate with large stamping equipment in use.
Description
Technical field
The present invention relates to the punching automation technical field, espespecially a kind of three-D manipulator transfer equipment that is used in conjunction with pressing equipment.
Background technology
Diel is in Cold Press Working, material (metal or nonmetal) is processed into a kind of technological equipment of part (or semi-finished product), is called cold punching die (being commonly called as cold-punching mould).Punching press is at room temperature, utilizes the mould that is installed on the forcing press that material is exerted pressure, and makes it produce separation or plastic deformation, thereby obtains a kind of pressure processing method of required stamping parts.
The form of diel is a lot, according to the operation combined level, diel comprises progressive die (also claiming the progressive die) and single die, wherein progressive die is on the feed direction of blank, have two or more stations, in the one stroke of forcing press, on different stations, finish one by one the mould of twice or the above stamping procedure of twice, the production efficiency of this kind mould is higher, can produce continuously.Single die is in the one stroke of forcing press, only finishes the mould of one stamping procedure, and the production efficiency of this kind mould is lower.
For some stamping parts, because the restriction of self structure can only adopt a plurality of single die tools independently to produce, the three axle transfer robots that some can transmit stamping parts are also disclosed in the prior art, but the following defective of ubiquity:
(1) because such as the active force of the lifting transmission center at main equipment, and the end of drive disk assembly (load) is larger with respect to the center size of main body, can cause the imbalance of main body two ends transmission force, and when there is the gap in running part, can cause the end of drive disk assembly to rock, unstable;
(2) existing traversing transmission all is separate transmission, and when causing traversing transmission step pitch larger, traversing running part size is larger, need take very large installing space, and need bear larger the moment of inertia;
(3) appearance and size of large-scale pressing equipment is huge, and workpiece lays particular stress on, and causes the aluminium section bar clip arm that transmits usefulness that span is installed large, and the aluminium section bar clip arm of selling on the market at present is generally less than normal, not too is fit to the transmission of large-scale stamping parts.
Summary of the invention
For solving above technical problem, the invention provides the three-D manipulator transfer equipment that a kind of innovative drive mechanism is used for pressing equipment, can make lifting and traversing transmission strength more balanced, greatly shorten the space that traversing translator unit takies, and can be used in conjunction with large-scale pressing equipment.
For reaching above purpose, the three-D manipulator transfer equipment that the present invention is used for pressing equipment mainly by the following technical solutions:
A kind of three-D manipulator transfer equipment for pressing equipment, comprise clip arm and transmission main body, the transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidingly connected, clip arm is equipped with the anchor clamps that can carry out to stamping parts clamping, described support arm is provided with the transverse moving left and right transmission mechanism that can drive the clip arm move left and right, the quantity of described support arm and clip arm is two, and support arm and clip arm all are symmetricly set in the both sides, front and back of frame.
Preferably, the quantity of described transmission main body is two, and two transmission main bodys are symmetrical charging aperture and the discharging opening that is installed on pressing equipment respectively.
Preferably, described elevating drive mechanism comprises the first lifting drive lead screw, the second lifting drive lead screw that is installed on frame and can drive the first lifting drive lead screw and the lifting driving motor of the second lifting drive lead screw synchronous rotary, the first lifting drive lead screw first lifting nut seat that has been threaded, the second lifting drive lead screw second lifting nut seat that has been threaded, the first lifting nut seat and the second lifting nut seat all are horizontally installed with the first line slideway, and two support arms are fixedly connected with the slide block of the first line slideway respectively.
Preferably, described elevating drive mechanism also comprises the some lifting load balance cylinders that are installed on frame, and the piston rod of some lifting load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.
Preferably, described open the folder transmission mechanism comprise left-handed screw mandrel, the dextrorotation screw mandrel that is installed on frame and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open the folder driving motor, left-handed wire rod thread is connected with the left-handed folder nut seat of opening, the dextrorotation wire rod thread is connected with dextrorotation and opens the folder nut seat, two support arms all are vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open the folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.
Preferably, the traversing driving motor that described transverse moving left and right transmission mechanism comprises the synchronous pulley that is installed on support arm and can drive the synchronous pulley rotation, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt are intermeshing, and the two ends of Timing Belt are fixedly connected with the two ends, the left and right sides of clip arm respectively.
Preferably, described two clip arms all are horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.
Preferably, described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, but fixed head also is provided with the complete machine elevating drive mechanism that drive chassis slides up and down along the 4th line slideway.
Preferably, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor that is installed on fixed head, the worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, and the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame.
Preferably, described clip arm is provided with can interconnective the first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with one can be for the through hole of locating piece insertion, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidingly connected, described Connection Block is provided with stopper slot, when the first clip arm was connected with the second clip arm, some limited blocks were supported stopper slot.
Brief description the present invention is used for the operation principle of the three-D manipulator transfer equipment of pressing equipment:
A kind of three-D manipulator transfer equipment for pressing equipment, comprise clip arm and transmission main body, the transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidingly connected, clip arm is equipped with the anchor clamps that can carry out to stamping parts clamping, described support arm is provided with the transverse moving left and right transmission mechanism that can drive the clip arm move left and right, the quantity of described support arm and clip arm is two, and support arm and clip arm all are symmetricly set in the both sides, front and back of frame.Wherein, symmetrically arranged two support arms can drive respectively two clip arms and move up and down synchronously with inside and outside mobile, and two clip arms can be respectively along two synchronous move left and right of support arm under the drive of transverse moving left and right transmission mechanism.Concrete, the present invention is installed on the feed inlet end of pressing equipment for the three-D manipulator transfer equipment of pressing equipment, the work top of pressing equipment inboard is equipped with single operation (or multiple operation) mould, the slide block of pressing equipment drives single operation (or multiple operation) mould material is carried out punch forming, in the one time punching molded process of single operation (or multiple operation) mould, the present invention is as follows for the course of action of the three-D manipulator transfer equipment of pressing equipment: 1, one time punching molded complete, the slide block of pressing equipment drives the single die tool and opens; 2, open two support arms of folder transmission mechanism driving and move inward synchronously, two support arms drive two clip arms and also move inward synchronously, and two clip arms are by symmetrically arranged clamp stamping parts on it; 3, two clip arms of two support arms drives of elevating drive mechanism driving move up synchronously, until stamping parts breaks away from the single die tool; 4, the transverse moving left and right transmission mechanism that arranges on the support arm drives two clip arms and moves right synchronously, and two clip arms drive anchor clamps by the first stamping procedure position movement to the second stamping procedure position, and this moment, stamping parts was positioned at the top position of the second stamping procedure; 5, two clip arms of two support arms drives of elevating drive mechanism driving move down synchronously, until stamping parts is positioned at the stamping position of single die tool; 6, drive the folder transmission mechanism and drive synchronously outside movement of two support arms, two support arms drive two clip arms and also outwards move synchronously, and symmetrically arranged anchor clamps unclamp stamping parts on two clip arms; 7, two clip arms of transverse moving left and right transmission mechanism driving are moved to the left synchronously, and two clip arms drive anchor clamps by the second stamping procedure position travelling backwards to the first stamping procedure position.8, the slide block of pressing equipment drives single die tool closure and stamping parts is carried out punching press, and the one action circulation of stamping parts finishes.
The beneficial effect that the present invention is used for the three-D manipulator transfer equipment of pressing equipment is: by the elevating drive mechanism that arranges, drive folder transmission mechanism and transverse moving left and right transmission mechanism, can drive respectively about two clip arms, inside and outside and move left and right, two clip arms can be along X-axis, Y-axis and Z axis carry out space three-dimensional and move, realized that stamping parts follows the synchronizing moving of pressing equipment crankshaft angles between each station die in pressing equipment, full-automatic continuous operation operation, replaced manual feeding action, improved production efficiency, effectively prevent the generation of industrial accident, improved safe application performance of the present invention; In addition, adopt two support arms drive about the clip arms, inside and outside, move left and right, make whole drive mechanism stressed more balanced reliable in the process of lifting transmission, reduced stress raisers; Drive the clip arm move left and right by the transverse moving left and right transmission mechanism is set at support arm, support arm needn't reduce driven loads with the clip arm move left and right, has shortened the space that the transverse moving left and right transmission mechanism takies; And clip arm can be used in conjunction with large-scale pressing equipment.
Description of drawings
Fig. 1 is that the present invention is used for the three-D manipulator transfer equipment of pressing equipment and the assembling schematic diagram of pressing equipment.
Fig. 2 is the perspective view of transmission main body of the present invention.
Fig. 3 is the plan structure schematic diagram of transmission main body of the present invention.
Fig. 4 is the structure for amplifying schematic diagram at the A place of Fig. 3.
Fig. 5 is the internal structure schematic diagram of transmission main body of the present invention.
Fig. 6 is the internal structure schematic diagram of another angle of transmission main body of the present invention.
Fig. 7 is the structure for amplifying schematic diagram at the B place of Fig. 6.
Fig. 8 is the structure for amplifying schematic diagram at the C place of Fig. 6.
Fig. 9 is the structural representation of opening the folder connecting gear of the present invention.
Figure 10 is the structure for amplifying schematic diagram at the D place of Fig. 9.
Figure 11 is the decomposition texture schematic diagram of the junction of the first clip arm of the present invention and the second clip arm.
Number in the figure explanation: 1, pressing equipment, 2, clip arm, 3, the transmission main body, 4, support arm, 5, anchor clamps, 6, frame, 7, the first lifting drive lead screw, 8, the second lifting drive lead screw, 9, the lifting driving motor, 10, the first lifting nut seat, 11, the second lifting nut seat, 12, the first line slideway, 121, the slide block of the first line slideway, 13, lifting load balance cylinder, 14, left-handed screw mandrel, 15, the dextrorotation screw mandrel, 16, open the folder driving motor, 17, left-handed folder nut seat, 18 of opening, the folder nut seat is opened in dextrorotation, 19, the second line slideway, 191, the slide block of the second line slideway, 20, synchronous pulley, 21, traversing driving motor, 22, the lifting line slideway, 23, Timing Belt, 24, idle pulley, 25, the 3rd line slide rail, 251, the slide block of the 3rd line slide rail, 26, fixed head, 27, the 4th line slideway, 271, the slide block of the 4th line slideway, 28, oil cylinder, 29, base, 291, through hole, 292, the 5th fourth of the twelve Earthly Branches groove, 30, locating piece, 301, first surface of revolution, 31, limited block, 311, second surface of revolution, 32, Connection Block, 321, stopper slot, 33, complete machine lifting driving motor, 34, open the intermediate straight line guide rail, 35, the first clip arm, 36, the second clip arm.
The specific embodiment
About mentioning in the present invention, inside and outside, front and back and about all the orientation in Fig. 1 as benchmark.
Shown in Fig. 1 ~ 11, a kind of three-D manipulator transfer equipment for pressing equipment, comprise clip arm 2 and transmission main body 3, transmission main body 3 comprises frame 6, described frame 6 is provided with support arm 4, the elevating drive mechanism that support arm 4 moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm 4 can be driven, support arm 4 is slidingly connected with clip arm 2, clip arm 2 is equipped with the anchor clamps 5 that can carry out to stamping parts clamping, described support arm 4 is provided with the transverse moving left and right transmission mechanism that can drive clip arm 2 move left and right, the quantity of described support arm 4 and clip arm 2 is two, and support arm 4 and clip arm 2 all are symmetricly set in the both sides, front and back of frame 6.Wherein, symmetrically arranged two support arms 4 can drive respectively two clip arms 2 and move up and down synchronously with inside and outside mobile, and two clip arms 2 can horizontally slip along two support arms 4 respectively under the drive of transverse moving left and right transmission mechanism synchronously.Concrete, the present invention is installed on the feed inlet end/discharge port end of pressing equipment 1 for the three-D manipulator transfer equipment of pressing equipment, the work top of pressing equipment 1 inboard is equipped with the single die tool, the slide block of pressing equipment 1 drives the single die tool material is carried out punch forming, in the one time punching molded process of single die tool, the present invention is as follows for the course of action of the three-D manipulator transfer equipment of pressing equipment: 1, one time punching molded complete, the slide block of pressing equipment 1 drives the single die tool and opens; 2, open two support arms 4 of folder transmission mechanism driving and move inward synchronously, two support arms 4 drive two clip arms 2 and also move inward synchronously, and two clip arms 2 clamp stamping parts by symmetrically arranged anchor clamps 5 on it; 3, two clip arms 2 of two support arms of elevating drive mechanism driving, 4 drives move up synchronously, until stamping parts breaks away from the single die tool; 4, the transverse moving left and right transmission mechanism that arranges on the support arm 4 drives two clip arms 2 and moves right synchronously, two clip arms 2 drive anchor clamps 5 by the first stamping procedure position movement to the second stamping procedure position, and this moment, stamping parts was positioned at the top position of the second stamping procedure; 5, two clip arms 2 of two support arms of elevating drive mechanism driving, 4 drives move down synchronously, until stamping parts is positioned at the stamping position of single die tool; 6, drive the folder transmission mechanism and drive synchronously outside movement of two support arms 4, two support arms 4 drive two clip arms 2 and also outwards move synchronously, and symmetrically arranged anchor clamps 5 unclamp stamping parts on two clip arms 2; 7, two clip arms 2 of transverse moving left and right transmission mechanism driving are moved to the left synchronously, and two clip arms 2 drive anchor clamps 5 by the second stamping procedure position travelling backwards to the first stamping procedure position.8, the slide block of pressing equipment 1 drives single die tool closure and stamping parts is carried out punching press, and the one action circulation of stamping parts finishes.The three-D manipulator transfer equipment that the present invention is used for pressing equipment is provided with motion controller and encoder, encoder is installed in the pressing equipment 1 and with the bent axle of pressing equipment 1 and links to each other, encoder mainly is be used to the angle position of following bent axle, encoder converts the angular displacement of bent axle in punching stroke process to pulse signal and passes to motion controller, give respectively elevating drive mechanism behind the motion controller reception signal, open folder transmission mechanism and transverse moving left and right transmission mechanism transmitted signal, elevating drive mechanism, open and control respectively about the stamping parts after folder transmission mechanism and transverse moving left and right transmission mechanism are received signal, inside and outside and side-to-side movement, thereby realize in punching stroke the gripping to stamping parts, rise, traversing feeding, descend, blowing, each action of opening and returning cooperates pressing equipment 1 to realize automated production.Elevating drive mechanism by arranging, drive folder transmission mechanism and transverse moving left and right transmission mechanism, can drive respectively two clip arms about in the of 2, inside and outside and move left and right, two clip arms 2 can carry out space three-dimensional along X-axis, Y-axis and Z axis and move, realized that stamping parts follows the synchronizing moving of pressing equipment 1 crankshaft angles between each station die in pressing equipment 1, full-automatic continuous operation operation, replaced manual feeding action, improved production efficiency, effectively prevent the generation of industrial accident, improved safe application performance of the present invention; In addition, adopt two support arms 4 drive clip arms about in the of 2, inside and outside, move left and right, make stamping parts stressed more even in the process of lifting transmission, reduced stress raisers; Drive clip arm 2 move left and right by the transverse moving left and right transmission mechanism is set at support arm 4, support arm 4 needn't reduce driven loads with clip arm 2 move left and right, has shortened the space that the transverse moving left and right transmission mechanism takies; And clip arm 2 can be used in conjunction with large-scale pressing equipment 1.
The quantity of described transmission main body 3 is two, and two transmission main bodys 3 are symmetrical charging aperture and the discharging opening that is installed on pressing equipment 1 respectively.Concrete, two transmission main bodys 3 can drive synchronously two clip arms 2 do respectively about, inside and outside and side-to-side movement, because two transmission main bodys 3 are charging aperture and discharging openings that symmetry is installed on pressing equipment 1, each clip arm has two support arm 4 left-right symmetry to connect 2 this moments, make the stressed more balanced of single clamp arm 2, balance the load of each running part, reduced the stress raisers of clip arm 2, strengthened the stability of clip arm 2 in the process of horizontally slipping.
Described elevating drive mechanism comprises the first lifting drive lead screw 7, the second lifting drive lead screw 8 that is installed on frame and can drive the first lifting drive lead screw 7 and the lifting driving motor 9 of the second lifting drive lead screw 8 synchronous rotaries, lifting driving motor 9 is installed on the centre position of the first lifting drive lead screw 7 and the second lifting drive lead screw 8, concrete, the outer surface of the main shaft of lifting driving motor 9, the first lifting drive lead screw 7 and the second lifting drive lead screw 8 all is arranged with the lifting synchronous pulley, and the outside of lifting synchronous pulley is arranged with Timing Belt; Lifting driving motor 9 drives the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotaries by Timing Belt, the first lifting drive lead screw 7 first lifting nut seat 10 that has been threaded, the second lifting drive lead screw 9 second lifting nut seat 11 that has been threaded, the first lifting drive lead screw 7 and the first lifting nut seat 10 and the second lifting drive lead screw 8 and the second lifting nut seat 11 form respectively feed screw nut's structure, when the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotary, the first lifting nut seat 10 is distinguished synchronously along the first lifting drive lead screw 7 and the 8 vertical slips of the second lifting drive lead screw with the second lifting nut seat 11; The first lifting nut seat 10 and the second lifting nut seat 11 all are horizontally installed with 12, two support arms 4 of the first line slideway and are fixedly connected with the slide block 121 of the first line slideway 12 respectively.Concrete, the first line slideway 12 by the level installation, two support arms 4 interfix in vertical direction with nut seat, namely two support arms 4 are hung on respectively nut seat, the first lifting nut seat 10 and the second lifting nut seat 11 can drive respectively two support arms 4 and slide up and down together, two support arms 4 drive clip arm 2 and slide up and down together, thereby realize that elevating drive mechanism drives the function that support arm 4 moves up and down, by this kind frame mode, two support arms 4 are hung installation in vertical direction, can save installing space, reduce the volume of the present invention for the three-D manipulator transfer equipment of pressing equipment; In addition, two support arms 4 also can be inside and outside mobile along the first line slideway 12 under the drive of driving the folder transmission mechanism, thereby make the mutually noninterfere that slides up and down and inside and outside slide of two support arms 4.
Described elevating drive mechanism comprises that also at right angle setting is in some lifting line slideways 22 of frame 6, the first lifting nut seat 10 is fixedly connected with the slide block of some lifting line slideways 22 respectively with the second lifting nut seat 11, and some lifting line slideways 22 can provide good guiding and supporting role for moving up and down of support arm 4.
Described elevating drive mechanism also comprises the some lifting load balance cylinders 13 that are installed on frame 6, and the piston rod of some lifting load balance cylinders 13 is fixedly connected with the second lifting nut seat 11 with the first lifting nut seat 10 respectively.Concrete, the first lifting nut seat 10 and the second lifting nut seat 11 all are hung with support arm 4 and clip arm 2, support arm 4 and clip arm 2 can apply a downward pulling force to the first lifting nut seat 10 and the second lifting nut seat 11 under the effect of self gravitation, during 9 running of lifting driving motor, can be very light when the first lifting nut seat 10 and the second lifting nut seat 11 move downward, again can be very painstaking when the first lifting nut seat 10 and the second lifting nut seat 11 move upward.By the some lifting load balance cylinders 13 that arrange, some lifting load balance cylinders 13 can apply respectively a power that makes progress to the first lifting nut seat 10 and the second lifting nut seat 11, to offset the impact of self gravitation, make respectively in vertical direction the stressed balance that reaches of the first lifting nut seat 10 and the second lifting nut seat 11, thereby lifting driving motor 9 can drive moving up and down of the first lifting nut seat 10 and the second lifting nut seat 11 steady and continuous, reduced load, reduce energy consumption, improved the service life of part.
The described folder transmission mechanism of opening comprises the left-handed screw mandrel 14 that is installed on frame 6, dextrorotation screw mandrel 15 and can drive left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotaries open the folder driving motor 16, open and press from both sides the position that driving motor 16 is installed on left-handed screw mandrel 14 and dextrorotation screw mandrel 15 centres, concrete, left-handed screw mandrel 14 and dextrorotation screw mandrel 15 connect into an integral body by shaft coupling and connecting axle, connecting axle all is arranged with out the folder synchronous pulley with the main shaft of opening folder driving motor 16, the outside of opening the folder synchronous pulley is arranged with Timing Belt, open folder driving motor 16 and drive left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotaries by Timing Belt, left-handed screw mandrel 14 be threaded left-handed open the folder nut seat 17, dextrorotation wire rod thread 15 is connected with dextrorotation and opens folder nut seat 18, left-handed screw mandrel 14 is opened folder nut seat 18 with dextrorotation and is formed respectively feed screw nut's structure with left-handed folder nut seat 17 and the dextrorotation screw mandrel 15 opened, because the thread of left-handed screw mandrel 14 and dextrorotation screw mandrel 15 is opposite, when left-handed screw mandrel 14 during with dextrorotation screw mandrel 15 synchronous rotary, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and slide inwards synchronously or outwards slide along left-handed screw mandrel 14 and dextrorotation screw mandrel 15 respectively; Two support arms 4 all are vertically installed with the second line slideway 19, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and be fixedly connected with the slide block 191 of the second line slideway 19 respectively.Concrete, by vertically arranged the second line slideway 19, two support arms 4 interfix in the horizontal direction with nut seat, be left-handedly to open folder nut seat 17 and dextrorotation and open folder nut seat 18 and can drive respectively two support arms 4 and inside and outside slide together, two support arms 4 drive clip arms 2 are inside and outside mobile together, drive the function that support arm 4 inside and outside moves thereby realize opening the folder transmission mechanism; In addition, two support arms 4 also can move up and down along the second line slideway 19 under the drive of elevating drive mechanism, thereby make the inside and outside slip of two support arms 4 and slide up and down mutually noninterfere.
The described folder transmission mechanism of opening comprises that also level is installed on some intermediate straight line guide rails 34 of opening of frame 6, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and be fixedly connected with some slide blocks of opening intermediate straight line guide rail 34 respectively, some intermediate straight line guide rails 34 of opening can provide good guiding and supporting role for the inside and outside mobile of support arm 4.
The traversing driving motor 21 that described transverse moving left and right transmission mechanism comprises the synchronous pulley 20 that is installed on support arm 4 and can drive synchronous pulley 20 rotations, the outer surface of synchronous pulley 20 is arranged with Timing Belt 23, synchronous pulley 20 is intermeshing with Timing Belt 23, and the two ends of Timing Belt 23 are fixedly connected with the two ends, the left and right sides of clip arm 2 respectively.Concrete, traversing driving motor 21 drives with synchronous pulley 20 by the gear reduction unit that arranges and is connected, traversing driving motor 21 drives synchronous pulley 20 rotations, synchronous pulley 20 is intermeshing with Timing Belt 23, it is mobile together that synchronous pulley 20 drives Timing Belt 23, when traversing driving motor 21 forward, Timing Belt 23 drives clip arm 2 and is moved to the left, when traversing driving motor 21 counter-rotating, Timing Belt 23 drives clip arm 2 and moves right, thereby realizes that the transverse moving left and right transmission mechanism drives the function of clip arm 2 move left and right.By the synchronous pulley 20 and the Timing Belt 23 that arrange, more steady during clip arm 2 side-to-side movement, the synchronism of two clip arms 2 is better; In addition, two support arms 4 drive simultaneously clip arm 2 and move, and can balanced bear the inertia force of clip arm 2 in motion process, improve the kinetic stability of clip arm 2.
Described support arm 4 also be equipped with 24, two idle pulleys 24 of two idle pulleys respectively symmetry be installed on synchronous pulley 20 both sides.By two idle pulleys 24 that arrange, can change the transmission direction of Timing Belt 23, also can the position of Timing Belt 23 be positioned simultaneously, prevent that clip arm 2 is offset, and has strengthened the stationarity of clip arm 2 move left and right in the process of motion.
Described two clip arms 4 all are horizontally installed with 25, two support arms 4 of the 3rd line slide rail and are fixedly connected with the slide block 251 of the 3rd line slide rail 25 respectively.Concrete, by the 3rd line slide rail 25 that level is installed, clip arm 2 can be along support arm 4 move left and right, and the 3rd line slide rail 25 can effectively be located and pre-guiding clip arm 2, prevent that clip arm 2 is offset, and has strengthened the stationarity of clip arm 2 move left and right in mobile process.
Described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head 26 that can be installed on pressing equipment 1, fixed head 26 is vertically installed with the 4th line slideway 27, the slide block 271 of the 4th line slideway 27 is fixedly connected with frame 6, but fixed head 26 also is provided with the complete machine elevating drive mechanism that drive chassis 6 slides up and down along the 4th line slideway 27.Concrete, but complete machine elevating drive mechanism drive chassis 6 move up and down along the 4th line slideway 27, and described elevating drive mechanism, drive folder transmission mechanism and transverse moving left and right transmission mechanism and all be installed on frame 6 and can move up and down with frame 6; By the complete machine elevating drive mechanism that arranges, increased the vertical stroke displacement of two clip arms 2, so that the present invention can be applied to the pressing equipment equipment of larger stroke, increased the scope of application of the present invention for the three-D manipulator transfer equipment of pressing equipment; In addition, when the workbench of pressing equipment 1 and mold integral moved, the complete machine elevating drive mechanism can drive clip arm 2 and move up and down, and clip arm 2 can be avoided under the state of not dismantling smoothly, has strengthened its practical serviceability.
Preferably, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor 33 that is installed on fixed head 26, the worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame, when 33 rotation of complete machine lifting driving motor, complete machine lifting driving motor 33 moves up and down by worm and gear elevator drives frame 6.
Described clip arm 2 is provided with can interconnective the first clip arm 35 and the second clip arm 36, the link of the first clip arm 35 and the second clip arm 36 is respectively equipped with base 29 and Connection Block 32, described base 29 is equipped with an oil cylinder 28, the piston rod of oil cylinder 28 is connected with a positioning block 30, the centre of base 29 is provided with one can be for the through hole 291 of locating piece 30 insertions, described locating piece 30 is provided with first surface of revolution 301 that an external diameter reduces from left to right gradually, described base 29 also is provided with some limited blocks 31, concrete, some limited blocks 31 are symmetrical arranged at base 29, limited block 31 is provided with second surface of revolution 311 that an outer shape and first surface of revolution 301 adapt, second surface of revolution 311 of limited block 31 is slidingly connected with first surface of revolution 301 of locating piece 30, concrete, base 29 also is provided with the 5th fourth of the twelve Earthly Branches groove 292, limited block 31 is provided with the 5th tenon piece 312 that can insert the 5th fourth of the twelve Earthly Branches groove 292, limited block 31 is slidingly connected with base 29, described Connection Block 32 is provided with stopper slot 321, when the first clip arm 35 was connected with the second clip arm 36, some limited blocks 31 were supported stopper slot 321.Concrete, the link of the first clip arm 35 and the second clip arm 36 is respectively equipped with base 29 and Connection Block 32, during connection, base 29 and Connection Block 32 docking, the some limited blocks 31 that arrange on the base 29 insert the stopper slot 321 of Connection Block 32, this moment, oil cylinder 28 began action, the piston rod of oil cylinder 28 drives locating piece 30 and moves right, first surface of revolution 301 that arranges on the locating piece 30 is slidingly connected with second surface of revolution 311 of limited block 31, some limited blocks 31 are outwards mobile along the 5th fourth of the twelve Earthly Branches groove 292 under the drive of locating piece 30, until some limited blocks 31 are supported the inner surface of stopper slot 321, some symmetrically arranged limited blocks 31 apply an outside tension force for the stopper slot 321 of Connection Block 32, side-friction force between Connection Block 32 and the limited block 31 is increased, Connection Block 32 is by tightly fixing of some limited blocks 31, thereby realizes being fixedly connected with of the first clip arm 35 and the second clip arm 36.Wherein, the outer shape of locating piece 30 also can be wedge, also can reach the action effect identical with first surface of revolution 301 by the wedge shape that arranges, and does not repeat them here.By the Automatic Link Establishment that arranges, when mold exchange more, can realize full automatic working, save mould replacing time, increase work efficiency.
The above embodiment, it is better embodiment of the present invention, be not to limit the scope of the present invention, therefore all equivalences of doing according to the described structure of the present patent application claim, feature and principle change or modify, all should be included in the patent claim of the present invention.
Claims (10)
1. three-D manipulator transfer equipment that is used for pressing equipment, comprise clip arm and transmission main body, the transmission main body comprises frame, it is characterized in that, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidingly connected, clip arm is equipped with the anchor clamps that can carry out to stamping parts clamping, described support arm is provided with the transverse moving left and right transmission mechanism that can drive the clip arm move left and right, the quantity of described support arm and clip arm is two, and support arm and clip arm all are symmetricly set in the both sides, front and back of frame.
2. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1 is characterized in that, the quantity of described transmission main body is two, and two transmission main bodys are symmetrical charging aperture and the discharging opening that is installed on pressing equipment respectively.
3. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described elevating drive mechanism comprises the first lifting drive lead screw that is installed on frame, the second lifting drive lead screw and can drive the first lifting drive lead screw and the lifting driving motor of the second lifting drive lead screw synchronous rotary, the first lifting drive lead screw first lifting nut seat that has been threaded, the second lifting drive lead screw second lifting nut seat that has been threaded, the first lifting nut seat and the second lifting nut seat all are horizontally installed with the first line slideway, and two support arms are fixedly connected with the slide block of the first line slideway respectively.
4. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 3, it is characterized in that, described elevating drive mechanism also comprises the some lifting load balance cylinders that are installed on frame, and the piston rod of some lifting load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.
5. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described open the folder transmission mechanism comprise left-handed screw mandrel, the dextrorotation screw mandrel that is installed on frame and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open the folder driving motor, left-handed wire rod thread is connected with the left-handed folder nut seat of opening, the dextrorotation wire rod thread is connected with dextrorotation and opens the folder nut seat, two support arms all are vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open the folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.
6. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, the traversing driving motor that described transverse moving left and right transmission mechanism comprises the synchronous pulley that is installed on support arm and can drive the synchronous pulley rotation, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt are intermeshing, and the two ends of Timing Belt are fixedly connected with the two ends, the left and right sides of clip arm respectively.
7. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 6 is characterized in that, described two clip arms all are horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.
8. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, but fixed head also is provided with the complete machine elevating drive mechanism that drive chassis slides up and down along the 4th line slideway.
9. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 8, it is characterized in that, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor that is installed on fixed head, the worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, and the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame.
10. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described clip arm is provided with can interconnective the first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with one can be for the through hole of locating piece insertion, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidingly connected, described Connection Block is provided with stopper slot, when the first clip arm was connected with the second clip arm, some limited blocks were supported stopper slot.
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| CN201310338642.8A CN103357777B (en) | 2013-08-06 | 2013-08-06 | For the Three-dimensional mechanical arm conveyer of pressing equipment |
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| CN201310338642.8A CN103357777B (en) | 2013-08-06 | 2013-08-06 | For the Three-dimensional mechanical arm conveyer of pressing equipment |
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| CN103357777B CN103357777B (en) | 2015-11-25 |
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| CN103639316A (en) * | 2013-11-26 | 2014-03-19 | 东莞市麦迪工业装备有限公司 | Three-dimensional servo feeding manipulator |
| CN103949538A (en) * | 2014-04-11 | 2014-07-30 | 重庆扬明电子科技有限公司 | Full-automatic stamping die machine integrated system |
| CN104343937A (en) * | 2014-09-17 | 2015-02-11 | 安徽吉晟精密机械科技有限公司 | Two-shaft connecting member for stamping robot |
| CN104369187A (en) * | 2014-09-17 | 2015-02-25 | 安徽吉晟精密机械科技有限公司 | Stamping robot uniaxial assembly |
| CN104438928A (en) * | 2014-10-29 | 2015-03-25 | 东莞市井田自动化设备有限公司 | Mechanical arm conveying mechanism for series-connection punching device |
| CN104841748A (en) * | 2015-05-28 | 2015-08-19 | 中山市八达机器制造有限公司 | Efficient and safe oil press with preheating function |
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| CN105583315A (en) * | 2015-12-25 | 2016-05-18 | 东莞市瑞辉机械制造有限公司 | Stamping machine and detachable cross rod thereof |
| CN105965860A (en) * | 2016-05-27 | 2016-09-28 | 济南奥图自动化股份有限公司 | Feeding and discharging mechanical arm of thermal forming press |
| CN106141014A (en) * | 2016-08-15 | 2016-11-23 | 苏州青林自动化设备有限公司 | A kind of three-D mechanical hand transporting apparatus |
| CN106426108A (en) * | 2016-11-18 | 2017-02-22 | 莱恩精机(深圳)有限公司 | All-magnetic suspension three-dimensional robot |
| CN107511434A (en) * | 2017-09-15 | 2017-12-26 | 苏州瑞玛金属成型有限公司 | Three-D manipulator transporting apparatus |
| CN107737851A (en) * | 2017-10-30 | 2018-02-27 | 佛山华数机器人有限公司 | A kind of punch press robot punching press line sub-arm |
| CN108145026A (en) * | 2017-12-29 | 2018-06-12 | 昆山威创自动化科技有限公司 | Large-scale three-D manipulator |
| CN112605254A (en) * | 2020-12-30 | 2021-04-06 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
| CN113118325A (en) * | 2019-12-31 | 2021-07-16 | 上海弋朋自动化科技有限公司 | X-axis direction beam integration device installed on numerical control turret punch press |
| CN113182871A (en) * | 2021-03-05 | 2021-07-30 | 王诗诗 | Backboard production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103639316B (en) * | 2013-11-26 | 2015-06-10 | 东莞市麦迪工业装备有限公司 | Three-dimensional servo feeding manipulator |
| CN103639316A (en) * | 2013-11-26 | 2014-03-19 | 东莞市麦迪工业装备有限公司 | Three-dimensional servo feeding manipulator |
| CN103949538A (en) * | 2014-04-11 | 2014-07-30 | 重庆扬明电子科技有限公司 | Full-automatic stamping die machine integrated system |
| CN104343937B (en) * | 2014-09-17 | 2016-07-06 | 安徽吉晟精密机械科技有限公司 | A kind of pressing robot two shaft coupling piece |
| CN104369187A (en) * | 2014-09-17 | 2015-02-25 | 安徽吉晟精密机械科技有限公司 | Stamping robot uniaxial assembly |
| CN104343937A (en) * | 2014-09-17 | 2015-02-11 | 安徽吉晟精密机械科技有限公司 | Two-shaft connecting member for stamping robot |
| CN104438928A (en) * | 2014-10-29 | 2015-03-25 | 东莞市井田自动化设备有限公司 | Mechanical arm conveying mechanism for series-connection punching device |
| CN104841748A (en) * | 2015-05-28 | 2015-08-19 | 中山市八达机器制造有限公司 | Efficient and safe oil press with preheating function |
| CN105396971A (en) * | 2015-12-25 | 2016-03-16 | 东莞市瑞辉机械制造有限公司 | Punching machine and cross rod thereof |
| CN105583315A (en) * | 2015-12-25 | 2016-05-18 | 东莞市瑞辉机械制造有限公司 | Stamping machine and detachable cross rod thereof |
| CN105396971B (en) * | 2015-12-25 | 2017-08-18 | 东莞市瑞辉机械制造有限公司 | A kind of stamping machine and its cross bar |
| CN105965860A (en) * | 2016-05-27 | 2016-09-28 | 济南奥图自动化股份有限公司 | Feeding and discharging mechanical arm of thermal forming press |
| CN106141014B (en) * | 2016-08-15 | 2018-04-17 | 苏州青林自动化设备有限公司 | A kind of three-D manipulator transporting apparatus |
| CN106141014A (en) * | 2016-08-15 | 2016-11-23 | 苏州青林自动化设备有限公司 | A kind of three-D mechanical hand transporting apparatus |
| CN106426108A (en) * | 2016-11-18 | 2017-02-22 | 莱恩精机(深圳)有限公司 | All-magnetic suspension three-dimensional robot |
| CN107511434A (en) * | 2017-09-15 | 2017-12-26 | 苏州瑞玛金属成型有限公司 | Three-D manipulator transporting apparatus |
| CN107511434B (en) * | 2017-09-15 | 2023-12-08 | 苏州瑞玛精密工业股份有限公司 | Three-dimensional manipulator transfer equipment |
| CN107737851A (en) * | 2017-10-30 | 2018-02-27 | 佛山华数机器人有限公司 | A kind of punch press robot punching press line sub-arm |
| CN108145026A (en) * | 2017-12-29 | 2018-06-12 | 昆山威创自动化科技有限公司 | Large-scale three-D manipulator |
| CN108145026B (en) * | 2017-12-29 | 2024-05-28 | 昆山威创自动化科技有限公司 | Large three-dimensional manipulator |
| CN113118325A (en) * | 2019-12-31 | 2021-07-16 | 上海弋朋自动化科技有限公司 | X-axis direction beam integration device installed on numerical control turret punch press |
| CN112605254A (en) * | 2020-12-30 | 2021-04-06 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
| CN112605254B (en) * | 2020-12-30 | 2022-09-13 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
| CN113182871A (en) * | 2021-03-05 | 2021-07-30 | 王诗诗 | Backboard production line |
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